Digital controller for an automotive steering test rig
A digital control system for performing a durability test with a steering test rig is disclosed. The digital control system comprises a learning control device for controlling periodic reference signals in servo actuator systems, such as hydraulic cylinders and electrical motors. This learning device is referred to as POISON (periodic on-line iterative signal optimum navigation) controller. By iterative learning of a corrected reference signal, the POISON controller is able to compensate for control errors which occur in conventional closed loop control systems. In contrast to existing control systems, the POISON controller is capable of permanent online operation. Therefore it is able to compensate for certain changes in the controlled system. The POISON controller can easily be added to existing servo control loops.
1. A steering test rig for performing a durability test with a steering device, the steering test rig comprising:
at least one motion actuator adapted to move the steering test rig according to a motion control signal;
at least one force actuator adapted to actuate the steering test rig according to a force control signal;
at least one position sensor adapted to derive an actual motion value signal of a motion of the steering device;
at least one force sensor adapted derive an actual force value signal of a force on the steering device; and
a control device adapted to receive the actual motion value signal and the actual force value signal and compute the motion control signal and the force control signal, the control device further adapted to output the motion control signal to the at least one motion actuator and the force control signal to the at least one force actuator, the control device comprising:
a control unit adapted to compute the motion control signal from a motion reference signal, from a motion actual value signal of the position sensor and from a stored motion correction signal and compute the force control signal from a force reference signal, from a force actual value signal of the force sensor and from a stored force correction signal, comprising
an inverting unit adapted to compute a first motion correction signal from the actual motion value signal and from the motion reference signal and compute a first force correction signal from the actual force value signal and from the force reference signal;
a filtering unit adapted to compute a second motion correction signal from the first motion correction signal and from the stored motion correction signal and compute a second force correction signal from the first force correction signal and from the stored force correction signal; and
an iteration memory adapted to store the second motion correction signal as a stored motion correction signal and store the second force correction signal as a stored force correction signal.
2. The steering test rig according to claim 1 , wherein the control unit comprises a correction signal unit adapted to compute a corrected motion reference signal from the motion reference signal and from the stored motion correction signal and compute a corrected force reference signal from the force reference signal and from the stored force correction signal, and wherein the control unit comprises a controller adapted to compute the motion control signal from the corrected motion reference signal and from the actual motion value signal and compute the force control signal from the corrected force reference signal and from the actual force value signal.
3. The steering test rig according to claim 1 , wherein the control unit comprises a controller adapted to compute an internal motion control signal from the motion reference value signal and from the actual motion value signal and compute an internal force control signal from the force reference value signal and from the actual force value signal, and wherein the control unit further comprises a control signal unit adapted to compute the motion control signal from the stored motion correction signal and from the internal motion control signal and compute the force control signal from the stored force correction signal and from the internal force control signal.
4. A controller comprising:
a control unit adapted to derive an internal control signal from an actual value signal and from a reference signal, the actual value signal derived from a controlled system;
a learning controller comprising
an inverse system unit adapted to derive a first correction signal from the actual value signal and from the reference signal,
a filtering unit adapted to deriving a filtered correction signal from a stored signal in an iteration memory and from the first correction signal, the filtering unit adapted store the filtered correction signal in the iteration memory, the iteration memory adapted to provide a correction output signal for the control unit, the correction output signal derived from the stored signal in the iteration memory;
an inverse system controller for the inverse system unit; and
a low pass filter; and
a control signal unit adapted to derive an external control signal from the correction output signal and from the internal control signal, the control signal unit adapted to provide the external control signal for an actuator in the controlled system.